EP1518091A1 - Capteur de vitesse de rotation pourvu d'un gyroscope vibrant - Google Patents

Capteur de vitesse de rotation pourvu d'un gyroscope vibrant

Info

Publication number
EP1518091A1
EP1518091A1 EP04741749A EP04741749A EP1518091A1 EP 1518091 A1 EP1518091 A1 EP 1518091A1 EP 04741749 A EP04741749 A EP 04741749A EP 04741749 A EP04741749 A EP 04741749A EP 1518091 A1 EP1518091 A1 EP 1518091A1
Authority
EP
European Patent Office
Prior art keywords
pass filter
rotation rate
low
signal
rate sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP04741749A
Other languages
German (de)
English (en)
Other versions
EP1518091B1 (fr
Inventor
Heinz-Werner Morell
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Publication of EP1518091A1 publication Critical patent/EP1518091A1/fr
Application granted granted Critical
Publication of EP1518091B1 publication Critical patent/EP1518091B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces

Definitions

  • the invention relates to a rotation rate sensor with a vibration gyro, which is part of at least one control circuit that excites the vibration gyro by supplying an excitation signal with its natural frequency, the vibration gyro being able to extract an output signal from which a rotation rate signal with noise is derived.
  • the output signal which indicates the rotation rate and is caused by the Coriolis force is subject to noise, as a result of which subsequent evaluation is impaired.
  • the object of the invention is to free the rotation rate signal from noise as much as possible.
  • the rotation rate signal which is subject to noise
  • the rotation rate signal is fed to the inputs of a low-pass filter with controllable bandwidth and a bandpass filter, in that the output of the bandpass filter is connected to a control input of the low-pass filter via a threshold value circuit.
  • the bandpass filter ensures that the threshold circuit only responds to changes in the rotation rate signal. Furthermore, the noise component at the input of the threshold circuit is reduced by the upstream bandpass filter.
  • the noise is largely suppressed by the low-pass filter when the rotation rate signal is constant or changes slowly.
  • the band limit of the low-pass filter is increased, so that the fast Change is forwarded, with a corresponding noise component being accepted at short notice.
  • a band selector to be arranged between the threshold value circuit and the control input of the low-pass filter, which, after a transition of the output signal of the threshold value circuit, produces a gradual transition of the signal fed to the control input of the low-pass filter.
  • the transition time can be set in both directions, i.e. from low bandwidth of the low pass filter to high bandwidth and vice versa. This prevents interference in the rotation rate signal due to a sudden switchover of the low-pass filter.
  • an advantageous embodiment of the rotation rate sensor according to the invention is that the bandpass filter allows changes in the rotation rate signal that are faster than the changes passed by the low-pass filter with the lowest bandwidth set and that are at most as fast as the fastest changes caused by the rotation of the vibration gyroscope. This ensures that the bandwidth of the low-pass filter is increased when necessary, but that higher-frequency noise does not influence the control of the low-pass filter.
  • an output signal of the threshold value circuit assumes a first level if the amount of the output signal of the bandpass filter is less than a predetermined one - level threshold, and also assume a second level.
  • the requirements for the rotation rate sensor for example the rotation rate measurement range or the signal-to-noise ratio, can differ from application to application. Therefore, according to a further development, it is provided that the band limits of the bandpass filter and the threshold of the threshold circuit can be programmed.
  • the limits of the setting range of the low-pass filter and the transition time from the lowest to the highest limit and the transition time from the highest to the lowest bandwidth can also be programmable.
  • Figure: 1 is a block diagram of a rotation rate sensor with a filter
  • FIG. 2 shows a more detailed representation of the filter.
  • FIG. 1 shows a block diagram of an arrangement with a vibration gyro 1 with two inputs 2, 3 for a primary excitation signal PD and a secondary excitation signal SD.
  • the excitation takes place by means of suitable transducers, for example electromagnetic.
  • the vibration gyro also has two outputs 4, 5 for a primary output signal PO and a secondary output signal SO. These signals reflect the respective vibration at spatially offset points on the gyro.
  • Such gyroscopes are known, for example, from EP 0 307 321 AI and are based on the action of the Coriolis force.
  • the vibratory gyro 1 represents a high quality filter, the path between the input 2 and the output 4 being part of a primary control circuit 6 and the path between the input 3 and the output 5 being part of a secondary control circuit 7.
  • the primary control loop 6 serves to excite vibrations with the resonance frequency of the vibratory gyro, for example 14 kHz. The excitation takes place in an axis of the vibration gyro, to which the direction of vibration used for the secondary control loop is offset by 90 °.
  • the signal SO is split into an in-phase component and a quadrature component, one of which is fed via a filter 8 to an output 9, from which a signal proportional to the rotation rate can be removed.
  • the output of the threshold circuit 13 is connected to a band selector 15, which controls the low-pass filter 11 in such a way that, after a transition of the output signal of the threshold circuit 13, the limit frequency of the low-pass filter 11 changes in a predetermined time. This time can be specified differently for different directions.
  • the amplitude frequency responses of the low-pass filter 11 and the band-pass filter 12 and the characteristic of the threshold circuit 13 are shown schematically in FIG.
  • the frequency ranges depend on the respective applications, for an application in the motor vehicle essentially on the rotation rate signal noise component and the mechanical inertia of the vehicle.

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Gyroscopes (AREA)

Abstract

L'invention concerne un capteur de vitesse de rotation pourvu d'un gyroscope et faisant partie au moins d'un circuit régulateur qui excite le gyroscope vibrant en cédant un signal d'excitation à sa fréquence propre. Du gyroscope vibrant, on peut prélever un signal de sortie duquel on peut dériver un signal de vitesse de rotation affecté d'un bruit. Le signal de vitesse de rotation affecté du bruit est cédé aux entrées d'un filtre passe-bas ayant une largeur de bande contrôlable et à un filtre passe-bas. La sortie du filtre passe-bas est reliée à une entrée de commande du filtre passe-bas par un circuit à seuil.
EP04741749A 2003-06-30 2004-06-08 Capteur de vitesse de rotation pourvu d'un gyroscope vibrant Expired - Lifetime EP1518091B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE10329510 2003-06-30
DE10329510 2003-06-30
PCT/EP2004/051055 WO2005001384A1 (fr) 2003-06-30 2004-06-08 Capteur de vitesse de rotation pourvu d'un gyroscope vibrant

Publications (2)

Publication Number Publication Date
EP1518091A1 true EP1518091A1 (fr) 2005-03-30
EP1518091B1 EP1518091B1 (fr) 2006-08-09

Family

ID=33546765

Family Applications (1)

Application Number Title Priority Date Filing Date
EP04741749A Expired - Lifetime EP1518091B1 (fr) 2003-06-30 2004-06-08 Capteur de vitesse de rotation pourvu d'un gyroscope vibrant

Country Status (6)

Country Link
US (1) US7100445B2 (fr)
EP (1) EP1518091B1 (fr)
JP (1) JP4185055B2 (fr)
KR (1) KR100649792B1 (fr)
DE (1) DE502004001144D1 (fr)
WO (1) WO2005001384A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10989316B2 (en) 2013-03-15 2021-04-27 Nordson Corporation Dense phase pump with easily replaceable components

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4957753B2 (ja) * 2009-06-15 2012-06-20 セイコーエプソン株式会社 ロボット、搬送装置、及び慣性センサーを用いた制御方法
JP6009142B2 (ja) * 2010-12-02 2016-10-19 ソニーセミコンダクタソリューションズ株式会社 振動型ジャイロセンサ及び振動型ジャイロ用回路
JP5682314B2 (ja) * 2011-01-06 2015-03-11 セイコーエプソン株式会社 ロボット
CN112697122A (zh) * 2020-12-10 2021-04-23 北京自动化控制设备研究所 基于数字带阻滤波的降噪方法、系统及石英音叉陀螺

Family Cites Families (11)

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Publication number Priority date Publication date Assignee Title
US3902374A (en) * 1973-10-19 1975-09-02 Singer Co Electrostatic rate gyroscope
US4755057A (en) * 1984-10-02 1988-07-05 Litton Systems, Inc. Path length control method for ring laser gyroscope
US4836675A (en) * 1987-06-29 1989-06-06 Litton Systems, Inc. Apparatus and method for detecting rotation rate and direction of rotation and providing cavity length control in multioscillator ring laser gyroscopes
FR2620528B1 (fr) 1987-09-11 1991-05-17 Sagem Dispositif gyrometrique piezoelectrique
US5187664A (en) * 1990-11-27 1993-02-16 Eaton-Kenway, Inc. Proportional position-sensing system for an automatic guided vehicle
US5359413A (en) * 1992-01-13 1994-10-25 Kearfott Guidance And Navigation Corporation System for substantially eleminating lock-in in a ring laser gyroscope
JP2874821B2 (ja) 1993-05-07 1999-03-24 昭和電工株式会社 ポリエチレン組成物
EP0638811B1 (fr) * 1993-08-12 2002-11-27 Rockwell International Corporation Dispositif d'estimation de l'amplitude et de la fréquence d'un signal sinusoidal bruité et polarisé à partir de brefs paquets d'échantillons
JP3548220B2 (ja) * 1994-03-15 2004-07-28 オリンパス株式会社 振動検出装置
JPH08178668A (ja) * 1994-12-26 1996-07-12 Nissan Motor Co Ltd 角速度センサの振動オフセット低減装置
US6497146B1 (en) * 2000-09-15 2002-12-24 Bei Technologies, Inc. Inertial rate sensor and method with built-in testing

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See references of WO2005001384A1 *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10989316B2 (en) 2013-03-15 2021-04-27 Nordson Corporation Dense phase pump with easily replaceable components
US11543038B2 (en) 2013-03-15 2023-01-03 Nordson Corporation Dense phase pump with easily replaceable components

Also Published As

Publication number Publication date
US7100445B2 (en) 2006-09-05
JP4185055B2 (ja) 2008-11-19
US20060096374A1 (en) 2006-05-11
JP2006504109A (ja) 2006-02-02
EP1518091B1 (fr) 2006-08-09
WO2005001384A1 (fr) 2005-01-06
KR20050023295A (ko) 2005-03-09
DE502004001144D1 (de) 2006-09-21
KR100649792B1 (ko) 2006-11-27

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